WO2024002083A1

WO2024002083A1 - Weak magnetic detection method and endoscope detector

Info

Publication number: WO2024002083A1
Application number: PCT/CN2023/102827
Authority: WO
Inventors: 杨戴天杙; 明繁华
Original assignee: 安翰科技(武汉)股份有限公司
Priority date: 2022-06-28
Filing date: 2023-06-27
Publication date: 2024-01-04
Also published as: CN114947813A

Abstract

Disclosed are a weak magnetic detection method and an endoscope detector. The weak magnetic detection method is used for detecting a weak magnetic medical device in a non-magnetic cavity, and comprises: acquiring, on a reference sphere model, a magnetic field observation vector formed by at least one observation point after a magnetic field change; and if a preset quantitative relation is satisfied between a module of the magnetic field observation vector and a first geomagnetic radius, judging that a weak magnetic source exists in the non-magnetic cavity, and outputting an existence signal. The weak magnetic detection method provided by the present invention does not generate high-intensity radiation to damage the non-magnetic cavity, and can achieve the technical effects of high detection speed, simple process, and low false triggering probability.

Description

Weak magnetic detection method and endoscopic detector

This application claims the priority of the Chinese patent application with the filing date of June 28, 2022, the application number is 202210749814.X, and the invention name is "Weak magnetic detection method and endoscopic detector", the entire content of which is incorporated by reference in this application.

Technical field

The invention relates to the field of medical technology, and in particular to a weak magnetic detection method and an endoscope detector.

Background technique

Currently, the endoscope discharge detection methods provided in the medical technology field mainly use the acoustic signal or light signal output by the endoscope itself when it is discharged from the body to remind the patient to recycle it by himself. However, this solution brings a poor sense of experience, and it is inevitable that the endoscope will be mistakenly triggered inside the patient's body, or that the alarm cannot be triggered through the photosensitive element due to the obstruction of feces after being discharged from the body. The existing technology also provides a technical solution for detecting the internal conditions of the patient's digestive tract through It takes a long time and is harmful to the human body. Therefore, how to provide a weak magnetic detection method that has a low probability of false triggering, is not harmful to the human body, has a convenient and rapid detection process, and can be applied in the field of medical technology has become an urgent technical problem to be solved.

Contents of the invention

One of the purposes of the present invention is to provide a weak magnetic detection method to solve the technical problems in the prior art of poor detection effect of weak magnetic medical equipment, slow detection speed, harmful detection process to human body, and high probability of false triggering.

One object of the present invention is to provide an endoscopic detector.

In order to achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides a weak magnetic detection method for detecting weak magnetic medical equipment in a non-magnetic cavity, including: obtaining at least one observation point on a reference sphere model after the magnetic field changes. The formed magnetic field observation vector; wherein, the reference sphere model represents the geomagnetic field and has a first geomagnetic radius; if the module of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that There is a weak magnetic source in the non-magnetic cavity, and a presence signal is output.

As a further improvement of an embodiment of the present invention, it is said that "if the mode of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, "Outputting the presence signal" specifically includes: if the module of the magnetic field observation vector is less than the first criterion value, or the module of the magnetic field observation vector is greater than the second criterion value, then it is determined that a weak magnetic source exists in the non-magnetic cavity, Output a presence signal; wherein the first criterion value is equal to the difference between the first geomagnetic radius and the first tolerance, and the second criterion value is equal to the sum of the first geomagnetic radius and the first tolerance, The first tolerance represents the difference between modes of different geomagnetic field vectors in the reference sphere model.

As a further improvement of an embodiment of the present invention, the method further includes: receiving the presence signal, and obtaining the number and/or average duration of the presence signal; if the number and/or average duration of the presence signal is greater than If the preset value is reached, an alarm signal will be output.

As a further improvement of an embodiment of the present invention, the method further includes: receiving the presence signal, obtaining several modes of the magnetic field observation vectors within a preset time range; and calculating standards for several modes of the magnetic field observation vectors. difference, the magnetic observation standard deviation is obtained; when the magnetic observation standard deviation is less than or equal to the preset dynamic magnetic field threshold, an alarm signal is output.

As a further improvement of an embodiment of the present invention, the "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model" specifically includes: obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model. The formed magnetic field observation vector, as well as the acceleration and rotation angular velocity change signals during the magnetic field change process, are used to obtain the module, acceleration data and gyro data of the magnetic field observation vector; the method also includes: receiving the presence signal, calculating the The standard deviation of the acceleration data, and/or the average value of the gyro data, is used to obtain the speed standard deviation and/or the gyro mean value; if the speed standard deviation is less than or equal to the preset dynamic speed threshold, and/or if the gyro mean value If it is less than or equal to the preset dynamic rotation threshold, an alarm signal will be output.

As a further improvement of an embodiment of the present invention, before "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model", the method further includes: acquiring multi-directional geomagnetic field data, in three dimensions The reference sphere model is obtained by fitting in the coordinate system; multi-directional geomagnetic field vectors are calculated according to the geomagnetic field data; and the first value in the preset quantitative relationship is calculated according to the module of the geomagnetic field vector. Tolerance; wherein, the first tolerance represents the difference between the modes of different geomagnetic field vectors in the reference sphere model, and the geomagnetic field vector is configured such that the center of the sphere of the reference sphere model points to the earth. A directed line segment of the position of the magnetic field data in the three-dimensional coordinate system; the first tolerance is configured as an integer multiple of the standard deviation of the mode of the geomagnetic field vector.

As a further improvement of an embodiment of the present invention, before "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model", the method further includes: acquiring the multi-azimuth observations of multiple magnetic sensors. Using geomagnetic field data, fit multiple sphere models in a three-dimensional coordinate system to obtain multiple calibration sphere models; calculate the sphere center of the calibration sphere model and the vector from the sphere center of the reference sphere model to the calibration point, and obtain Multiple calibration sphere centers and calibration vectors; Calibrate the modules of multiple calibration vectors with the calibration vector of one of the multiple calibration sphere models to obtain multiple data vectors; According to the data vectors and the corresponding The calibration sphere center is calculated to obtain multiple data points, and a reference sphere model is fitted in a three-dimensional coordinate system according to the data points; wherein the magnetic field data is distributed on the calibration sphere model to form multiple calibration spheres. fixed point; the calibration The vector is the calibration vector in the preset direction of one of the calibration sphere models; the "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model" specifically includes: obtaining the observation The vector corresponding to the point in the first state is obtained to obtain the first observation vector; the vector corresponding to the observation point in the second state is obtained, and calibrated with the calibration vector to obtain the second observation vector; the "if If the modulus of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, then it is determined that a weak magnetic source exists in the non-magnetic cavity, and outputting the presence signal specifically includes: If the modulus of the second observation vector If the preset quantitative relationship is satisfied with the first geomagnetic radius, then it is determined that the weak magnetic source exists in the non-magnetic cavity, and the existence signal is output.

As a further improvement of an embodiment of the present invention, the calibration sphere model is an ellipsoid, the preset direction is the long axis direction of the ellipsoid, and the "use one of the multiple calibration sphere models" "Calibrate vectors, calibrate the modules of multiple calibration vectors, and obtain multiple data vectors" specifically includes: calculating multiple calibration parameters according to the calibration vector and the modules of multiple calibration vectors; wherein the calibration parameters are The quotient of the module of the calibration vector and the module of the calibration vector; calibrating the modules of multiple calibration vectors respectively according to multiple calibration parameters to obtain multiple data vectors; the "obtaining the observation point at The corresponding vector in the second state is calibrated with the calibration vector to obtain the second observation vector" specifically includes: obtaining the calibration parameter corresponding to the first observation vector to obtain the observation calibration parameter; obtaining the position of the observation point in the second The corresponding vector in the state is calibrated with the observation calibration parameters to obtain the second observation vector.

As a further improvement of an embodiment of the present invention, the method further includes: if the mode of the magnetic field observation vector and the first geomagnetic radius do not satisfy a preset quantitative relationship, tracking at least two of the reference sphere models Observe how the spacing of the points changes with the magnetic field, and obtain the spacing change value; if the spacing change value and the preset spacing change threshold satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity.

As a further improvement of an embodiment of the present invention, the "tracking the change of the distance between at least two observation points on the reference sphere model with the magnetic field and obtaining the distance change value" specifically includes: tracking at least two sets of observation points on the reference sphere model The dispersion situation is obtained, and the first dispersion data and the second dispersion data are obtained, and the overall dispersion situation of the at least two groups of observation points is tracked to obtain global dispersion data, which are respectively used to characterize the change of the distance between observation points with the magnetic field. situation; the "if the distance change value and the preset distance change threshold satisfy a preset quantitative relationship, then determine that there is a weak magnetic source in the non-magnetic cavity" specifically includes: if the global dispersion If a preset quantitative relationship is satisfied between the data and the preset spacing change threshold, the first dispersion data and the second dispersion data, it is determined that a weak magnetic source exists in the non-magnetic cavity.

In order to achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides an endoscope detector for detecting an endoscope in a non-magnetic cavity, the endoscope is configured to have weak magnetism, and the endoscope The detector includes a detection panel and a handle connected to the detection panel. The detection panel includes a display surface and a sensing surface arranged oppositely. The endoscopic detector is configured to implement any of the above technical solutions. Weak magnetic detection method.

As a further improvement of an embodiment of the present invention, the display surface is provided with alarm lights and status lights configured in a ring shape, and the sensing surface is evenly distributed with at least four sensing units, and the sensing units include at least two Magnetic sensor, one of the magnetic sensors is disposed close to the geometric center of the sensing surface, and the other one is disposed far away from the geometric center.

Compared with the existing technology, the present invention uses the weak magnetism carried by medical equipment to detect the medical equipment in the non-magnetic cavity. By fitting a reference sphere model that represents the strength of the geomagnetic field, the invention tracks the reference sphere model in different states. The vector changes of a certain data point in the data point are compared and judged based on a certain preset quantitative relationship. Since the detection process only needs to receive the geomagnetic field and the weak magnetic field emitted by the medical equipment, it does not send a signal to the non-magnetic cavity. Therefore, high-intensity radiation will not be generated to cause damage to the non-magnetic cavity. At the same time, the technical solution based on fitting the sphere model and making vector judgment can achieve the technical effects of fast detection speed, simple process and low probability of false triggering.

Description of drawings

Figure 1 is a schematic structural diagram of the first side of the endoscope detection device in an embodiment of the present invention;

Figure 2 is a schematic structural diagram of the second side of the endoscope detection device in one embodiment of the present invention;

Figure 3 is a schematic structural diagram of the third side of the endoscope detection device in another embodiment of the present invention;

Figure 4 is a schematic structural diagram of the fourth side of the endoscope detection device in another embodiment of the present invention;

Figure 5 is a schematic structural diagram of the cooperation between the endoscope detection device and the human body in one embodiment of the present invention;

Figure 6 is a schematic structural diagram of the scanning trajectory of the endoscope detection device in one embodiment of the present invention;

Figure 7 is a schematic structural diagram of the scanning trajectory of the endoscope detection device in another embodiment of the present invention;

Figure 8 is a schematic diagram of the steps of a weak magnetic detection method in an embodiment of the present invention;

Figure 9 is a schematic diagram of magnetic field distribution in a specific application scenario of the weak magnetic detection method in an embodiment of the present invention;

Figure 10 is a schematic diagram of the steps of a weak magnetic detection method in another embodiment of the present invention;

Figure 11 is a schematic diagram of the steps of the first embodiment of the weak magnetic detection method in an embodiment of the present invention;

Figure 12 is a schematic diagram of signal changes in the first embodiment of the weak magnetic detection method in an embodiment of the present invention;

Figure 13 is a schematic diagram of the steps of the second embodiment of the weak magnetic detection method in an embodiment of the present invention;

Figure 14 is a schematic diagram of the steps of the third embodiment of the weak magnetic detection method in an embodiment of the present invention;

Figure 15 is a schematic diagram of the steps of a weak magnetic detection method in yet another embodiment of the present invention;

Figure 16 is a schematic step diagram of a specific example of a weak magnetic detection method in yet another embodiment of the present invention;

Figure 17 is a schematic distribution diagram of a sphere model in a specific application scenario of the weak magnetic detection method in yet another embodiment of the present invention;

Figure 18 is a schematic distribution diagram of a sphere model in another specific application scenario of the weak magnetic detection method in yet another embodiment of the present invention;

Figure 19 is a schematic distribution diagram of the reference sphere model in a specific application scenario of the weak magnetic detection method in yet another embodiment of the present invention;

Figure 20 is a schematic step diagram of a first embodiment of a specific example of a weak magnetic detection method in yet another embodiment of the present invention;

Figure 21 is a schematic step diagram of a second embodiment of a specific example of a weak magnetic detection method in yet another embodiment of the present invention;

Figure 22 is a schematic diagram of magnetic field distribution in a specific application scenario of the weak magnetic detection method in another embodiment of the present invention;

Figure 23 is a schematic distribution diagram of the observation point change process in a specific application scenario of the weak magnetic detection method in another embodiment of the present invention;

Figure 24 is a schematic diagram of two possible distributions of observation points after changes in a specific application scenario of the weak magnetic detection method in another embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention. Structural, method, or functional changes made by those of ordinary skill in the art based on these embodiments are all included in the protection scope of the present invention.

It should be noted that the term "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus including a list of elements not only includes those elements, but also includes those not expressly listed Other elements, or elements inherent to the process, method, article or equipment. In addition, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", etc. are used for descriptive purposes only and are not to be construed as indicating or indicating implies relative importance.

The field weakening detection tool can be equipped with a field weakening detection method and be used to detect the field weakening equipment in the non-magnetic cavity. Since the magnetism of weak magnetic equipment is relatively weak, it is usually difficult to accurately measure it when external interference such as the geomagnetic field is superimposed, making it impossible for the operator to accurately know whether there is still weak magnetic equipment inside the non-magnetic cavity, and it is impossible to Know the current status of the field weakening equipment.

The above problems are reflected in the medical field as follows: it is difficult for medical workers to determine whether the human body (can be regarded as the above-mentioned non-magnetic cavity) still contains an endoscope (which can be regarded as the above-mentioned weak magnetic equipment). If the endoscope (especially the capsule endoscope) is not smoothly discharged from the human body, retaining it for a long time will make subsequent treatment and diagnosis difficult, and it is also very likely to cause damage to the human body.

Based on this, the present invention provides an endoscope detection device for detecting an endoscope in the human body; the endoscope is configured to have weak magnetism. Of course, the endoscope detection device can be further applied in other scenarios with the same accuracy requirements to detect any weak magnetic equipment existing in the non-magnetic cavity.

In one embodiment of the present invention, the structure of the endoscope detection device 1 is as shown in FIGS. 1 and 2 , including a detection panel 11 and a handle 12 pivotally connected to the detection panel 11 . The detection panel 11 may further include a display surface 111 and a sensing surface 112 arranged oppositely, wherein the display surface 111 may be provided on the first side of the endoscope detection device 1 (or the detection panel 11 ), and the sensing surface 112 may It is provided on the second side of the endoscope detection device 1 (or detection panel 11). Preferably, the endoscope detection device 1 is configured to implement a weak magnetic detection method to realize the endoscope detection function.

Further, the handle 12 may be configured in the shape of a long block, and may be arranged in the first plane along its length extension direction. The first plane can be set at an angle to the plane where the detection panel 11 is located, and the handle 12 can preferably be configured to rotate around its pivot connection part with the detection panel 11 to adjust the angle between the first plane and the detection panel 11, so as to adjust the angle between the first plane and the detection panel 11. Adjust the relative positional relationship between the handle 12 and the detection panel 11. During actual use, the operator holds the handle 12 and places the detection panel 11 close to the non-magnetic cavity. Based on the above structural configuration, the operator can easily adjust the posture of the detection panel 11 by adjusting the relative position relationship between the two. Of course, in other embodiments, the detection panel 11 and the handle 12 can also be configured as a fixed connection with a fixed relative position. The handle 12 and the detection panel 11 can extend along the same horizontal plane, or the handle 12 and the detection panel 11 can be located where the handle 12 and the detection panel 11 are located. The plane is arranged at an angle to facilitate the proximity of the detection panel 11 to the non-magnetic cavity to be detected.

In this embodiment, the handle 12 may be further provided with an indicator light 121 for indicating the power supply status and/or fault status of the endoscope detection device 1 . For example, in one case, the indicator light 121 is configured to emit a first color light in the charging state, a second color light in the use state, and/or a third color light in the low battery state. For another example, in another case, at least two indicator lights 121 are configured to show the current power supply status by lighting the number of indicator lights 121 . For another example, in another case, the indicator light 121 is configured to emit a strobe or continuous light to indicate when it detects that an internal component of the endoscope detection device 1 is working abnormally.

The handle 12 may further include an empty storage compartment 122, which may be configured as a battery compartment to accommodate a power supply battery, or as a control compartment to accommodate components used to implement the weak magnetic detection function. For the sake of appearance and ease of use, the indicator light 121 is set on the side of the handle 12 close to the detection panel 11, and the empty storage compartment 122 is set on the side of the handle 12 away from the detection panel 11, so that after the operator holds it, the palm of his hand is enough to cover the container. The empty compartment 122 is installed to protect the internal components and not to block the indicator light 121, so as to facilitate checking the current status of the endoscope detection device 1. For the same reason, at least the indicator light 121 may be configured to be located on the same side of the display surface 111 (which may be the above-mentioned first side).

Of course, the cover plate that accommodates the empty compartment 122 and is exposed to the outside can be configured to be in the same plane as other parts of the handle 12 to lift the handle 12 of oneness. Considering the benefit of stable grip, of course, the cover can also be configured to protrude from other parts of the handle 12 and form an ergonomic shape to increase the friction between the palm and the handle 12 and enhance the grip effect. .

Preferably, the display surface 111 may further include an alarm light 1111 and a status light 1112 configured in a ring shape. Of course, the alarm light 1111 and the status light 1112 may also be configured in an arc or other shapes. For example, the alarm light 1111 is configured to be located on the display surface 111 The status light 1112 is configured as a semi-circular arc located on the display surface 111 that is close to or away from the handle 12 .

Specifically, the alarm light 1111 and the status light 1112 can be configured as an integrated light strip, and can be illuminated as a whole with a preset brightness or as a whole after a preset alarm situation occurs or a preset status indication signal is received. Different levels of brightness light up. The alarm light 1111 can also be configured so that when responding, part of the arc is lit with a preset brightness, or part of the arc is lit with different levels of brightness; especially when multiple magnetic sensors are provided on the sensing surface 112. , multiple parts of the alarm light 1111 can be directly or indirectly connected to the plurality of magnetic sensors, so that when the data detected by one or more magnetic sensors meets the preset alarm situation, it can be reflected in the alarm light 1111 corresponding parts to issue alarm instructions.

In one embodiment, the preset alarm condition may be that the corresponding magnetic sensor detects a weak magnetic device (which may be a capsule endoscope in the human body) located in the non-magnetic cavity, or detects a weak magnetic field from the non-magnetic cavity. Signal. Based on this, for example, when the magnetic field weakening equipment or the magnetic field weakening signal is located in the upper left corner of the detection panel 11, at least part of the arc in the upper left corner of the alarm light 1111 will light up, thereby displaying the detected magnetic field weakening condition and instructing the operator to handle the situation. Hold the endoscope detection device 1 and move it toward the upper left, thereby further and quickly determining the location of the weak magnetic equipment, and serving as a guide for the scanning path.

In addition, the status light 1112 can be used to indicate the current working status of the endoscope detection device 1 , for example, indicating that the endoscope detection device 1 is in a sensing state, a calibration state, or an initialization state. The distinction between the above states can be formed by referring to the previous description of the working conditions of the alarm light 1111, or it can be formed by setting the alarm light 1111 to emit light of different colors or the alarm light 1111 flashing, which is different from the above. For example, when the endoscope detection device 1 is in the sensing state, the status light 1112 is configured to be always on; when the endoscope detection device 1 is in the calibration state, the status light 1112 is configured to strobe; When in the initialization state, the status light 1112 is configured as a "marquee" effect.

FIG. 2 shows the structure of the second side of the endoscope detection device 1 . Among them, at least four sensing units 1120 are evenly distributed on the sensing surface 112 . As shown in FIG. 2 , when the handle 12 extends in the vertical direction, the at least four sensing units 1120 may be arranged crosswise along the "cross" direction, and the sensing units 1120 located on the left and right sides may be configured as Extending along the horizontal direction, the sensing units 1120 located on the upper and lower sides can be configured to extend along the vertical direction; of course, under the same situation, the at least four sensing units 1120 can also be arranged crosswise along the "X" direction, and They are arranged centrally symmetrically with each other and axially symmetrically.

Further, the sensing unit 1120 may include at least two magnetic sensors respectively, and one of the magnetic sensors is disposed close to the geometric center of the sensing surface 112 , and the other of the magnetic sensors is disposed far away from the geometric center. . In the embodiment shown in FIG. 2 , the sensing unit 1120 may include a first magnetic sensor 1120A and a second magnetic sensor 1120B. The first sensor 1120A and the second magnetic sensor 1120B are spaced apart along the length extension direction of the sensing unit 1120 . One magnetic sensor 1120A is disposed close to the geometric center of the sensing surface 112 , and a second magnetic sensor 1120B is disposed far away from the geometric center of the sensing surface 112 . Other magnetic sensors may have the same configuration as described above, or may have other configurations.

It can be understood that the sensing units 1120 on the sensing surface 112 can be configured as eight, respectively arranged along the "cross" direction and along the "X" direction. Of course, the arrangement of the sensing units 1120 in the present invention is not Limited to the specific examples provided above. At the same time, the role of configuring two magnetic sensors in a single sensing unit 1120 is to improve the anti-interference ability of the endoscope detection device 1; based on this, the magnetic field in a single sensing unit 1120 can be increased or decreased according to needs and cost control considerations. Number of sensors.

In one embodiment of the endoscopic detection device 1 provided above, as shown in Figures 1 and 2, the detection panel 11 is configured to have a circular extended surface, thereby accommodating more sensors in a smaller space. test unit 1120 and form a more beautiful appearance. Of course, in another embodiment as shown in FIGS. 3 and 4 , the detection panel 11 can also be configured to have an extended surface in a shape such as a rectangle or a rounded rectangle, thereby configuring the endoscope detection device 1 to have a larger diameter. The length is enough to extend into a relatively narrow space, expanding the device's applicable scenarios and making it easier to store.

In another embodiment, as shown in FIGS. 3 and 4 , the endoscope detection device 1 may also include a detection panel 11 and a handle 12 connected to the detection panel 11 . The detection panel 11 may also include displays arranged oppositely. Surface 111 and sensing surface 112, the endoscope detection device 1 can also be configured to implement a weak magnetic detection method to detect an endoscope with weak magnetism in the human body.

In an embodiment where the detection panel 11 is configured with a rounded rectangular extended surface, the alarm light 1111 and the status light 1112 in the display surface 111 can also be configured as strips with the same rounded rectangle to maintain the consistency of the design language. Similar to the previous embodiment, the alarm light 1111 may be disposed outside the status light 1112 and arranged along the edge of the detection panel 11 . At the same time, in order to maintain the portability of the endoscope detection device 1 as much as possible without losing its sensing accuracy, multiple sensing elements 1120 can be provided at intervals in the length extension direction of the detection panel 11 , preferably five. The detection effect can be achieved at different positions along the length extension direction. Of course, in this configuration, the alarm light 1111 and the sensing element 1120 can also be configured to have the connection relationship and functions described above to achieve the technical effect of endoscope tracking and navigation.

Due to the need to leave enough space for the sensing element 1120 , the detection panel 11 is configured to be longer. Therefore, in this embodiment, the length of the handle 12 can be shortened adaptively to balance the volume of the endoscope detection device 1 . At the same time, the connection relationship between the handle 12 and the detection panel 11 can also be configured as a simple fixed connection, so that the operator can hold the handle 12 and adjust the position and direction of the detection panel 11 . Likewise, handle 12 The indicator light 121 and the empty storage bin 122 can also be provided, and the functional configuration provided by the previous embodiment can be used for reference.

The shape configuration of the detection panel 11 with rounded rectangular corners enables the sensing surface 112 to have a larger coverage area, making the scanning process faster. Of course, the present invention is not limited to the above two shape configurations. Inspired by the above configurations, a variety of other fixed shape configurations or variable shape configurations can also be derived. Although the sensing elements 1120 are configured to be evenly distributed on the sensing surface 112 with a specific relative position in the foregoing, this does not exclude implementations in which the sensing elements 1120 are configured to be flexibly detachable and/or the relative position is adjustable. , those skilled in the art can make replacements as needed. It is worth noting that in terms of selection, the above-mentioned magnetic sensor can be configured as an AMR (Anisotropic Magnetoresistance) sensor or a TMR (Tunneling Magnetoresistance) sensor.

Figure 5 shows the matching state of the endoscope detection device 1 and the human body 2. Since the detection depth L of the endoscope detection device 1 is greatly affected by the intensity of the magnetic source, when detecting the magnet installed in the endoscope, And when the magnetic sensor faces the north and south poles of the magnet, the detection depth L can reach 20cm to 30cm. Based on this, the endoscope detection device 1 can be scanned close to the surface of the human abdomen 21 so that the detection range 100 of the endoscope detection device 1 is sufficient to cover the surface of the human abdomen 21 to the part between the human spine 22 .

In addition, although ferromagnetic materials such as metal have certain interference with the detection process of the endoscope detection device 1, when there is no obvious ferromagnetic material on the surface of the human abdomen 21 (such as clothes), the detection process can still be performed. Work properly. At the same time, when the detection panel 11 of the endoscope detection device 1 is close to the surface of the human abdomen 21, an angle can be formed between the detection panel 11 and the handle 12, thereby making it easier for the operator to hold and move the endoscope detection device. 1, the detection panel 11 and the human body's abdomen 21 can always be kept close to each other.

The endoscope detection device 1 provided in the above two embodiments may have different scanning steps respectively. Figure 6 shows the scanning steps of the endoscope detection device 1 provided in the previous embodiment. Based on the above structural configuration, the detection range 100 formed by the endoscope detection device 1 can be the same circle, facing When scanning a rectangular-like area to be measured 200 on the human body, since it is relatively small and lightweight, it can be scanned in a zigzag trajectory, such as an S-shaped trajectory or a "ji"-shaped trajectory. Figure 7 shows the scanning steps of the endoscope detection device 1 provided in the latter embodiment. Based on the above structural configuration, the detection range 100 formed by the endoscope detection device 1 is the same long strip, facing When the area to be measured 200 is measured, the advantage of having a large coverage area can be used to perform linear scanning, for example, scanning back and forth along the diagonal line of the area to be measured 200 . Of course, any of the above scanning methods can be accomplished by holding the handle 12 that is pivotally connected or fixedly connected to the detection panel 11 .

As shown in FIG. 8 , one embodiment of the present invention provides a weak magnetic detection method, which can be used to detect weak magnetic medical equipment in a non-magnetic cavity, such as the endoscope used to detect the human body as mentioned above. The weak magnetic detection method specifically includes:

Step 31: Obtain the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model;

Step 32: If the mode of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output.

Among them, the reference sphere model represents the geomagnetic field and has a first geomagnetic radius.

Figure 9 shows a schematic diagram (part) of the magnetic field distribution formed by carrying the above weak magnetic field detection method in a specific application scenario. Specifically, the magnetic field distribution is mainly composed of the reference sphere model 4, and the reference sphere model 4 is shaped like a "spherical shell" (the area of the arc-shaped solid line and the two arc-shaped dashed lines in the figure), and is composed of the end points of multiple magnetic field vectors According to the fitting structure, the starting point of the magnetic field vector is the center 40 of the reference sphere model 4 .

Taking the first observation point 41 on the reference sphere model as the above-mentioned observation point, at different times (the previous moment or any moment after the previous moment) or in different states (it can be the attitude change state of the detection device or magnetic sensor mounted on it) , or the changing working state of the detection device it is equipped with), the position change relative to the reference sphere model 4 may occur. For example, in one case, the first observation point 41 moves to the location of the second observation point 42 and outwardly departs from the coverage of the reference sphere model 4; for example, in another case, the first observation point 41 moves to The third observation point 43 is located inwardly away from the coverage of the reference sphere model 4; for example, in another case, the first observation point 41 moves to the location of the fourth observation point 44 and is within the coverage of the reference sphere model 4. Relative position movement occurs within the range.

The first geomagnetic radius may be the distance between the center of the sphere 40 and the arc-shaped solid line, that is, R shown in the figure. The arc-shaped solid line is located between two arc-shaped dotted lines and has a radius relative to the sphere center 40. A more balanced distance length. At this time, you can judge whether the observation point deviates from the two lines due to its position having a large fluctuation amplitude by judging the quantitative relationship between the mode of the magnetic field observation vector formed after the observation point undergoes changes in the magnetic field and the first geomagnetic radius. outside the spherical shell formed by the arc-shaped dotted line.

For example, in the initial state, the first observation point 41 forms a first observation vector 410 with the sphere center 40 . When the first observation point 41 is affected by the change of the magnetic field and moves to the position of the second observation point 42, a second observation vector 420 is formed with the center of the sphere 40; when the first observation point 41 is affected by another change of the magnetic field, the second observation vector 420 is formed. When moving to the position of the third observation point 43, a third observation vector 430 is formed with the center of the sphere 40; when the first observation point 41 is affected by another magnetic field change and moves to the position of the fourth observation point 44, A fourth observation vector 440 is formed with the center 40 of the sphere. Therefore, the quantitative relationship between the mode of the second observation vector 420, the third observation vector 430, or the fourth observation vector 440 and the first geomagnetic radius R can be compared to determine the movement of the observation point due to changes in the magnetic field.

For example, in one embodiment, when the first observation point 41 moves to the position of the second observation point 42 or moves to the position of the third observation point 43, it may be determined that an external presence causes the observation point to deviate from the reference sphere. Weak magnetic source of model 4; moving from the first observation point 41 to the fourth observation point 44 When it is in the position, it is determined that there is no weak magnetic source outside that causes the observation point to deviate from the reference sphere model 4.

As shown in Figure 10, another embodiment of the present invention provides a weak magnetic detection method, which specifically limits the content of the preset quantitative relationship of the previous embodiment, specifically including:

Step 32', if the module of the magnetic field observation vector is less than the first criterion value, or the module of the magnetic field observation vector is greater than the second criterion value, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output.

Wherein, the reference sphere model represents the geomagnetic field and has a first geomagnetic radius. The first criterion value is equal to the difference between the first geomagnetic radius and the first tolerance, the second criterion value is equal to the sum of the first geomagnetic radius and the first tolerance, and the first tolerance Characterizes the difference between the modes of different geomagnetic field vectors in the reference sphere model.

Step 32' based on the refinement of step 32 can be applied to any of the above technical solutions, especially to any of the above definitions of the preset quantity relationship. Based on this, define the magnetic field observation vector before the magnetic field changes as B′ _s , define the first geomagnetic radius R = |B _e |, and define the first tolerance as r _T , then the above judgment process is: if |B′ _s |< |B _e |-r _T or |B′ _s |>|B _e |+r _T , then it is determined that there is a weak magnetic source in the non-magnetic cavity, and an existence signal is output. In this way, the characteristic that observation points are usually evenly distributed within the spherical shell range of the reference sphere model 4 is utilized, so that the above judgment steps are sufficient to cover most situations of selecting observation points, and the output results are more accurate.

Among them, _Be can represent the geomagnetic field vector detected in a space that does not contain weak magnetic sources, and is preferably a calibrated geomagnetic field vector. In some embodiments, the mode of the geomagnetic field vector, or the geomagnetic field intensity, may be the result of the square sum of the square root of the orthogonal components of the geomagnetic field in three directions, that is, The first tolerance r _T can be estimated through actual measurement; the noise levels of different magnetic sensors may differ based on the different hardware structures of the magnetic sensors themselves. Based on this, different magnetic sensors can have different first tolerances r _T , Regardless of whether the magnetic sensor is uniformly calibrated for sensitivity and bias.

As shown in Figure 11, a first embodiment of a weak magnetic detection method in an embodiment of the present invention is provided, which specifically includes:

Step 32: If the mode of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output;

Step 331: Receive presence signals and obtain the number and/or average duration of presence signals;

Step 332: If the number and/or average duration of existing signals is greater than the preset value, an alarm signal is output.

In an embodiment where steps 31 and 32 are repeatedly executed, if there is a high precision requirement for triggering the alarm signal, the "output presence signal" itself is not sufficient evidence to directly determine the presence of a weak magnetic source in the non-magnetic cavity. , therefore, in the first embodiment, by determining whether at least one of the number of presence signals and the duration of the presence signal output meets the conditions, the triggering of the alarm signal is limited to meet the need for high-precision determination.

Furthermore, the number of presence signals is preferably defined as the number of magnetic sensors that output presence signals. In this way, the output of multiple magnetic sensors can be combined to comprehensively determine the presence of weak magnetic sources, improve the robustness of the detection process and reduce the risk of false triggering. Probability. The duration is preferably defined as the average duration, which can be the arithmetic mean of multiple durations output by a single magnetic sensor under different detection periods, or the arithmetic mean of multiple durations output by multiple magnetic sensors under the same detection period. Average or weighted average, thus avoiding accidental alarms due to excessive movements or other disturbances. Preferably, the preset value for the number of presence signals may be 2, and the preset value for the duration may be 0.5s. It is worth noting that the joint judgment and window monitoring judgment mentioned above can be adaptively combined with the above steps.

Figure 12 shows the signal changes output by the sensing unit 1120 and the alarm light 1111, where the sensing unit 1120 can be used to output a high-level presence signal sig(e) and a low-level non-presence signal sig(n) , the alarm light 1111 or its front-end component can be used to receive or output the high-level alarm signal sig(w) and the low-level non-alarm signal sig(r) respectively. Therefore, in Figure 12, the dotted box represents the average duration (or represents the monitoring window used to detect the average duration). When the monitoring window always and only includes the presence signal sig(e), it is determined that the weak magnetic source exists. , an alarm signal is output after the monitoring window duration expires, and the alarm light 1111 is triggered to form an alarm indication.

Of course, in order to improve the response speed, the sampling rate of the detection device can also be adaptively increased and the length of the monitoring window can be shortened (that is, shortened For the preset value of the average duration), and select a compromise and appropriate preset value based on stable filtering noise, this point can be adaptively configured as needed. At the same time, the presence signal may not trigger any indication effect. In one embodiment, the detection device is configured to respond to the presence signal to form a pre-alarm to prompt the operator to conduct detailed scanning at the current location, and can also be combined with the above steps to perform normal operations. Alarm operation.

As shown in Figure 13, a second embodiment of the weak magnetic detection method in an embodiment of the present invention is provided, which specifically includes:

Step 341: Receive the existence signal and obtain the modes of several magnetic field observation vectors within the preset time range;

Step 342: Calculate the standard deviation of the modes of several magnetic field observation vectors to obtain the magnetic observation standard deviation;

Step 343: When the standard deviation of the magnetic observation is less than or equal to the preset dynamic magnetic field threshold, an alarm signal is output.

In this second embodiment, a solution corresponding to the dynamic judgment described above is provided. By calculating the standard deviation, it is judged whether the detection device is in rapid and intense motion, thereby eliminating false alarms caused by changes in the magnetic field. and other distractions. The modes of the plurality of magnetic field observation vectors may be modes of multiple magnetic field observation vectors detected by a single magnetic sensor within a preset time range. Define the vector data length as L _m(mag) (or the module of several magnetic field observation vectors formed within a preset time range). Define the module of the magnetic field observation vector corresponding to the sensing axis of the magnetic sensor as j, where the sensing axis j It can be any of the x-axis, y-axis or z-axis, then the magnetic observation standard deviation std _mag can at least be configured to satisfy:
std _mag =std(mag(L _m(mag) ,j)).

Among them, mag() represents the data detected by any magnetic sensor, and std() represents the calculation of the standard deviation of the data sequence. Therefore, when the magnetic observation standard deviation std _mag satisfies std _mag > std _mTh , it can be determined that the current detection device is in a violently moving or rapidly changing magnetic field. The judgment result at this time cannot be used to determine whether a weak magnetic source exists, and it can indicate The operator turns off the detection device to protect himself; when the magnetic observation standard deviation std _mag satisfies std _mag ≤ std _mTh , it can be determined that the current detection device is working normally, and an alarm signal can be output corresponding to the presence signal output in the previous steps; where, std _mTh is The dynamic magnetic field threshold.

As shown in Figure 14, a third embodiment of the weak magnetic detection method in an embodiment of the present invention is provided, which provides step 31' refined based on step 31, and steps 351 and 352 arranged after step 32. Weak magnetic detection methods specifically include:

Step 31', obtain the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model, as well as the acceleration and rotation angular velocity change signals during the magnetic field change process, and obtain the module, acceleration data and gyro data of the magnetic field observation vector. ;

Step 351: Receive the presence signal, calculate the standard deviation of the acceleration data and/or the average value of the gyro data, and obtain the speed standard deviation and/or gyro average value;

Step 352: If the speed standard deviation is less than or equal to the preset dynamic speed threshold, and/or if the gyro mean is less than or equal to the preset dynamic rotation threshold, an alarm signal is output.

In this third embodiment, another solution corresponding to the dynamic judgment described above is provided, by receiving and obtaining the acceleration data and the gyro data (or specifically, obtaining the standard deviation of the acceleration data and the average of the gyro data value) at least one of them to determine whether the detection device is in rapid and intense motion, thereby eliminating false alarms and other interference caused by changes in the magnetic field. Based on this, the above detection device or other devices equipped with the weak magnetic detection method provided in this embodiment can be further configured with an acceleration sensor and/or a gyroscope. Of course, one of the above components can be provided in the detection device, or can be integrated There are multiple sensing elements arranged overall.

Define the length of the acceleration data as L _m(acc) (or the length of the acceleration data sequence formed within the preset time range), define the sensing axis of the magnetic sensor corresponding to the acceleration data as j, where the sensing axis j can be the x-axis , y-axis or z-axis, then the speed standard deviation std _acc can at least be configured to satisfy:
std _acc = std(acc(L _m(acc) ,j));

Among them, acc() represents the data detected by any acceleration sensor, and std() represents the calculation of the standard deviation of the data sequence. Therefore, when the speed standard deviation std _acc satisfies std _acc >std _aTh , it can be determined that the current detection device is in a violent motion or a rapidly changing magnetic field. The judgment result at this time cannot be used to determine whether the weak magnetic source exists, and the operation can be instructed. or turn off the detection device for self-protection; when the speed standard deviation std _acc satisfies std _acc ≤ std _aTh , it can be determined that the current detection device is working normally, and an alarm signal can be output corresponding to the presence signal output in the previous steps; where, std _aTh is the Dynamic speed threshold.

Correspondingly, the length of the gyro data is defined as L _m(gyr) (or the length of the gyro data sequence formed within the preset time range), and the sensing axis of the magnetic sensor corresponding to the gyro data is defined as j, where the sensing axis j can be is any of the x-axis, y-axis or z-axis, then the gyro mean A _gyr can at least be configured to satisfy:
A _gyr =mean(gyr(L _m(gyr) ,j));

Among them, gyr() represents the data detected by any gyroscope, and mean() represents the calculation of the average value of the data sequence. Therefore, when the gyro mean value A _gyr satisfies A _gyr >A _gTh , it can be determined that the current detection device is in a violently moving or rapidly changing magnetic field. The judgment result at this time cannot be used to determine whether a weak magnetic source exists, and the operator can be instructed Turn off the detection device for self-protection; when the gyro average A _gyr satisfies A _gyr ≤ A _gTh , it can be determined that the current detection device is working normally, and an alarm signal can be output corresponding to the presence signal output in the previous steps; where A _gTh is the dynamic rotation threshold.

The reason for calculating the standard deviation and the average value separately is that acceleration also exists during the normal use of the detection device, so calculating the standard deviation can grasp its acceleration changes; while during the normal use of the detection device, the angle change is often not obvious or even 0. Therefore, the average value can be calculated to quickly grasp the current changes. Those skilled in the art can derive more embodiments inspired by this principle.

It should be noted that although the above three embodiments respectively provide different steps that are arranged after the presence signal output step (step 32) and used to determine whether to alarm, this does not mean that the above different embodiments are necessarily isolated from each other. In order to avoid redundancy, this article will not elaborate too much on the combination of the above three embodiments. But it can be understood that in other implementations, the alarm signal can be configured to be output when any two, three or more of the quantity requirements, duration requirements, standard deviation requirements, acceleration requirements and gyro data requirements are met, Thus, joint judgment, window monitoring, dynamic judgment and other mechanisms are introduced to further reduce the probability of false triggering. In one implementation, the third embodiment may be executed first and then the first embodiment, or the second embodiment may be executed first and then the first embodiment, or the second embodiment may be executed first. and the third embodiment, and then execute the sequence of the first embodiment. In this way, the judgment logic of "data reception-data correction-dynamic judgment-data analysis-joint judgment-window monitoring judgment" can be formed.

As shown in Figure 15, another embodiment of the present invention provides a weak magnetic field detection method, which adds several pre-steps before performing weak magnetic field detection, especially steps 301, 302 and steps before step 31. 303. Weak magnetic detection methods specifically include:

Step 301: Obtain multi-directional geomagnetic field data and fit it in a three-dimensional coordinate system to obtain a reference sphere model;

Step 302: Calculate the multi-directional geomagnetic field vector based on the geomagnetic field data;

Step 303: Calculate the first tolerance according to the module of the geomagnetic field vector;

Wherein, the reference sphere model represents the geomagnetic field and has a first geomagnetic radius. The first tolerance represents the difference between modes of different geomagnetic field vectors in the reference sphere model. The geomagnetic field vector may be configured as a directed line segment pointing from the center of the reference sphere model to the position of the geomagnetic field data in the three-dimensional coordinate system. The first tolerance may be configured to be equal to an integer multiple of the standard deviation of the mode of the geomagnetic field vector.

The tracking of the observation point and the acquisition and judgment of the module of the magnetic field observation vector need to be based on the reference sphere model. The reference sphere model can be preset before detection, and usually should be completely formed by fitting the geomagnetic field data in an environment that does not contain weak magnetic sources; of course, under other special working conditions, such as detection environment requirements Under the condition of applying a constant magnetic field, the reference sphere model can naturally be formed by fitting under the combined action of the external magnetic field and the geomagnetic field.

The fitting of the reference sphere model relies on multi-directional geomagnetic field data. Since the geomagnetic field data is relative to the earth's coordinate system, this original geomagnetic field data (or as mentioned above, the geomagnetic field vector) can be defined as B _e (which can have a value range of 50-60 μT); further , it needs to be converted into a representation in a three-dimensional coordinate system fitted relative to the detection device, and the resulting detection geomagnetic field data can be defined as B _s . Based on this, the detected geomagnetic field data B _s can at least satisfy: B _s =R _es B _e ;

Among them, R _es is the transformation matrix. Since the geomagnetic field is uniform and stable, the posture of the detection device itself can be adjusted, so the projection of the geomagnetic field on each axis at various parts of the detection device (or at each of its magnetic sensors) changes. Therefore, under one working condition, it is possible to rotate in an open environment without additional magnetic field interference to obtain multi-directional geomagnetic field data, and express it as a three-dimensional model based on the real-time geomagnetic field data B _s (t) measured at each time t. The form of coordinates B _x (t) _, B _y (t) and B _z (t), that is: B _s (t) = [B _x (t), B _y (t), B _z (t)].

Plot the detected geomagnetic field data into a three-dimensional coordinate system to fit and form a reference sphere model. Of course, the process of fitting the geomagnetic field data to the reference sphere model can also have multiple implementations, and the present invention is not limited to fitting based on the vector corresponding to the geomagnetic field data. In one case, the geomagnetic field data can also be defined as the above-mentioned coordinates corresponding to the geomagnetic field vector, which can also achieve the expected technical effect of step 301.

This embodiment further provides a technical solution for calculating the first tolerance of the reference sphere model based on the mode of the geomagnetic field vector, which may be to calculate the difference between the maximum value and the minimum value of the mode of the multi-directional geomagnetic field vector as the said The first tolerance, of course, can also be calculated by calculating the standard deviation of the modes of all geomagnetic field vectors, and directly using this standard deviation as the first tolerance, or multiplying the standard deviation as the first tolerance (increasing tolerance , improve model fault tolerance). In one implementation, the first tolerance is defined as r _T , and the first tolerance corresponding to the i-th magnetic sensor is r _Ti , then at least: r _Ti =n·std({|B _si |} _{1 ,2,...,M} );

Among them, std() is the standard deviation operation function; {|B _si |} _1,2,...,M is the module of M geomagnetic field vectors measured by the i-th magnetic sensor; n is the empirical multiple, n The value range can be 1-3.

Further, in another implementation, step 303 may also specifically include: analyzing the mode of the geomagnetic field vector, filtering out outliers, and calculating the reference sphere model based on the screened mode of the geomagnetic field vector. First tolerance. In this way, the accuracy of model fitting is further improved.

As shown in Figure 16, a specific example of the weak magnetic detection method in yet another embodiment of the present invention is provided, and steps 3011, 3012, 3013 and 3014 before step 31 are provided. Weak magnetic detection methods specifically include:

Step 3011: Obtain geomagnetic field data from multiple magnetic sensors in multiple directions, fit multiple sphere models in the three-dimensional coordinate system, and obtain multiple calibration sphere models;

Step 3012: Calculate the spherical center of the calibration sphere model and the vector from the spherical center to the calibration point, and obtain multiple calibration vectors of the spherical center;

Step 3013, use the calibration vector of one of the multiple calibration sphere models to calibrate the modules of the multiple calibration vectors to obtain multiple data vectors;

Step 3014: Calculate multiple data points based on the data vector and the corresponding calibration sphere center, and fit the reference sphere model in the three-dimensional coordinate system based on the data points;

Wherein, the magnetic field data is distributed on the calibration sphere model to form a plurality of calibration points; the calibration vector is a calibration vector in a preset direction of one of the calibration sphere models.

Since actual magnetic sensors often have a certain degree of inconsistency, in order to further improve detection accuracy and reference sphere model quality, this specific example provides refinement steps for step 301. It is worth noting that although step 302 and step 303 are omitted in this embodiment, it does not mean that this embodiment cannot combine the above steps to form a new technical solution.

Define the magnetic field value measured by the i-th sensor in the detection device on the j-axis as B _ij , then it can at least satisfy:

in, is the unit vector in the positive direction of the j-axis, Represents the projection value of geomagnetism on the j-axis of the sensor; K _ij is the conversion coefficient of sensor i on the j-axis. The ideal value is 1, that is, the output is equal to the input; D _ij is the bias (Bias).

Since the magnetic sensor is affected by circuit design, manufacturing process and temperature changes, the conversion coefficient K _ij may deviate from 1, and the bias D _ij may not be 0, which causes errors in the output magnetic field value of the magnetic sensor, and in the absence of an external magnetic field The output is not 0. Reflected into the three-dimensional coordinate system, an ellipsoid model with the center of the sphere not at the origin will be formed as shown in Figure 17, which can be defined as the calibration sphere model 4'.

The intensity of geomagnetic field data obtained by the same magnetic sensor in different postures is different (this is one of the reasons why the calibration sphere model 4' is shaped like an ellipsoid). Based on this, multi-directional geomagnetic field data can be collected by changing the posture of the magnetic sensor. After fitting to form an ellipsoid model, the calibration center of the current ellipsoid model is defined as ΔB _i , then it can be: ΔB _i = [Δ B _ix ,△B _iy ,△B _iz ];

Thus, the offset of the calibrated center of the ellipsoid model relative to the origin, at least along the x-axis, y-axis, and z-axis, can be calculated. also because:

In this way, the offset D _ij can be obtained, and the scales of the calibration sphere model 4' in each direction (for example, the length of the ellipsoid) can be obtained further based on the calibration sphere center coordinates [△B _ix , △B iy , △B _iz ] _. axis and minor axis). Continuing, different calibration vectors can be calculated based on the calibration sphere center and the scales in each direction, and one of them is selected as the calibration vector. Based on this, the other calibration vectors are calibrated (which can be for the proportional amplification of the module or Projection processing), thereby generating a quasi-normal sphere reference sphere model corresponding to the magnetic sensor. In this way, the problem of non-standard sphere model caused by the error of the magnetic sensor itself can be improved, and the module of the magnetic field observation vector can be used to subsequently determine whether the weak magnetic source exists.

The above describes the fitting and processing process of the geomagnetic field data of a single sensor in multiple directions. It can be seen that the above steps 3011 to 3014 of the present invention are not limited to the case of multiple magnetic sensors. Step 3011 can be: Obtain the geomagnetic field data of the magnetic sensor in multiple directions, fit the sphere model in the three-dimensional coordinate system, and obtain the calibration sphere model; calculate the sphere center of the calibration sphere model, and the vector from the sphere center to the calibration point, and obtain the calibration sphere center and Calibration vectors; use one of the calibration vectors of the calibration sphere model as the calibration vector, calibrate the modules of multiple calibration vectors, and obtain multiple data vectors; calculate multiple data points based on the data vectors and the calibration sphere center, and calculate Point, fit the reference sphere model in the three-dimensional coordinate system.

Since the major axis and minor axis of the ellipsoid do not necessarily extend along the x-axis, y-axis, or z-axis, step 3013 may further include: determining the major axis and/or minor axis of the calibration spheroid model to The vector where at least one of the long axis or the short axis is located is used as a calibration vector, and the modules of other calibration vectors are calibrated to obtain multiple data vectors.

The degree of deviation of different magnetic sensors may be different, which will lead to differences in the output results of the magnetic sensors (for example, different vector components, different total intensities, etc.), which will form multiple calibration sphere models as shown in Figure 18. 4'. Based on this, the first calibration sphere model 4A', the second calibration sphere model 4B', the third calibration sphere model 4C', the fourth calibration sphere model 4D', and the fifth calibration sphere model in the calibration sphere model 4' can be 4E', the sixth calibration sphere model 4F' and the seventh calibration sphere model 4G' are analyzed to obtain a reference sphere model. It is worth noting that the above-mentioned multiple calibration sphere models may be generated by fitting the geomagnetic field data corresponding to multiple magnetic sensors.

Define the first calibration sphere model 4A' to be formed by fitting the geomagnetic field data obtained by the first magnetic sensor. Assuming that its vector extending in the positive direction along the x-axis is used as the calibration vector, then the module of the calibration vector is r _1x , corresponding to the i-th The module of the calibration vector of a magnetic sensor on the j-axis is r _ij . Further, a scalar operation can be performed on the modulus r _1x of the calibration vector and the modulus r _ij of other calibration vectors to achieve calibration of other calibration vectors and form a calibrated data vector accordingly.

The above process converts multiple calibrated sphere models shaped like ellipsoids located at different positions into multiple sphere models located at different positions and approximate to regular spheres. Since the calibration process can also include the participation of offset D _ij , the The calibration sphere centers of different calibrated spheres are unified to the origin of the three-dimensional coordinate system (the calibration vector minus the corresponding offset D _ij or △B _ij ). Therefore, after traversal processing, the multiple calibration sphere models in Figure 18 will finally The unified fitting forms the reference sphere model 4 as shown in Figure 19. The geomagnetic field data detected by different magnetic sensors are distributed on it, which is enough to adapt to the subsequent steps of the weak magnetic detection method provided above, using the magnetic field changes at the observation point as the An indicator to determine whether weak magnetic field exists.

The above steps improve the consistency of detection data of different magnetic sensors in the detection device, as well as the consistency of detection data of the same magnetic sensor on different axes.

As shown in Figure 20 , it is a first embodiment of a specific example of the weak magnetic detection method in yet another embodiment of the present invention, which provides steps 311 and 312 based on step 31 and steps 312 based on step 32. 32". Weak magnetic detection methods specifically include:

Step 3012: Calculate the sphere center of the calibration sphere model and the vector from the sphere center to the calibration point, and obtain multiple calibration sphere centers and calibration vectors;

Step 311: Obtain the vector corresponding to the observation point in the first state and obtain the first observation vector;

Step 312, obtain the vector corresponding to the observation point in the second state, and calibrate it with the calibration vector to obtain the second observation vector;

Step 32", if the mode of the second observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output.

The first embodiment provides a detailed step 31 that matches the foregoing steps, and a corresponding matching step 32". The first observation vector may correspond to the first observation vector 410 in Figure 9, and the second observation vector may correspond to Figure 9. 9, the second observation vector 420, the third observation vector 430, and the fourth observation vector 440, or any other observation vector with respect to the changed state of the first observation vector 410.

In this embodiment, although step 301 and step 31 are configured in detail simultaneously, there is only a relationship between the two that "step 31 is executed based on the calibration parameters generated in step 301". It is understandable that step 301 can be implemented independently of step 31 to generate a more accurate reference sphere model; in addition, the specific implementation of step 31 provided later can be implemented in place of other implementations of step 31, to achieve Corresponding technical effects.

As shown in Figure 21, a second embodiment of a specific example of the weak magnetic detection method in yet another embodiment of the present invention provides steps 30131 and 30132 refined based on step 3013, and steps refined based on step 312. 3121. Step 3122. Weak magnetic detection methods specifically include:

Step 30131: Calculate multiple calibration parameters based on the calibration vector and the modules of the multiple calibration vectors;

Step 30132: Calibrate the modules of multiple calibration vectors respectively according to multiple calibration parameters to obtain multiple data vectors;

Step 3121: Obtain the calibration parameters corresponding to the first observation vector and obtain the observation calibration parameters;

Step 3122: Obtain the vector corresponding to the observation point in the second state, calibrate it with the observation calibration parameters, and obtain the second observation vector;

Step 32", if the mode of the second magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output.

Wherein, the calibration parameter is the quotient of the module of the calibration vector and the module of the calibration vector.

Define the module of the calibration vector as r _1x , and the module of the calibration vector of the i-th sensor on the j-axis as r _ij , then the calibration parameter s _ij-1x corresponding to the calibration vector is at least configured to satisfy:

Therefore, the proportional coefficient required to correct the module of the calibration vector to the calibration vector is calculated, thereby unifying the different conversion coefficients, so that it is finally sufficient to fit a reference sphere model similar to a right sphere. Corresponding to the conversion coefficient K _ij of sensor i on the j-axis, there is: K _i ′ _j = s _ij-1x K _ij ≈ K _1x ;

Among them, K _i ′ _j is the data vector corresponding to the calibration vector, and K _1x is the conversion coefficient corresponding to the calibration vector (in this embodiment, it is the conversion corresponding to the calibration vector of the first magnetic sensor in the x-axis direction). coefficient).

Based on this, in an embodiment in which multiple magnetic sensors are configured in the detection device, the calibration parameters s _ij-1x can be used to calibrate the calibration vectors of all magnetic sensors in all axial directions to generate the data vector B′ _ij , where The data vector B′ _ij is at least configured to satisfy: B′ _ij =s _ij-1x (B _ij -△B _ij );

Among them, B _ij is the output of the i-th magnetic sensor corresponding to the j-axis, and △B _ij is the offset of the i-th magnetic sensor corresponding to the j-axis.

In this embodiment, although step 3013 and step 312 are configured in detail simultaneously, there is only a relationship between the two that "step 312 is executed based on the calibration parameters generated in step 3013". It is understandable that step 3013 can be implemented independently of step 312 to generate a more accurate reference sphere model; in addition, the specific implementation of step 31 provided later can be implemented in place of other implementations of step 31, to achieve Corresponding technical effects.

The above calibration process can be implemented in any process of detection.

For example, during use, the detection device will calculate the strength of the magnetic field in real time and judge the weak magnetic source. At this time, when the measured value of a certain magnetic sensor is detected to be close to its range, the operator can be instructed through the status light , to express that there are other strong magnetic field interferences (magnetic control systems, large magnets, etc.) around, which affects the use of the detection device. At this time, the alarm light can be configured to be always off to avoid false alarms. The operator can avoid magnetic field interference and then recalibrate the detection device. After the calibration is completed and the detected magnetic field interference has been eliminated, the alarm light and detection process can be restarted.

For another example, when the detection device is started and initialized, or receives the impact of a strong magnetic field and needs to be restarted and recalibrated, the operator can place the detection device in an environment without an obvious magnetic field, or shake it randomly in the environment (it can be Draw a circle along the "8" figure (or rotate the detection device) until all calibration points are within the corresponding spherical shell range. After testing, the above initialization process usually takes 1-3s.

Of course, the present invention can also provide another embodiment as shown in Figure 22 to Figure 24, which specifically includes: tracking the change of the distance between at least two observation points on the reference sphere model with the magnetic field, and obtaining the distance change value; if the distance changes If the preset quantitative relationship between the value and the preset spacing change threshold is satisfied, it is determined that a weak magnetic source exists in the non-magnetic cavity. In this way, it is possible to prevent missed detection or omissions caused by the magnetic field generated by the weak magnetic source not being large enough to set the observation point away from the geomagnetic field spherical shell.

As shown in Figure 22, the reference sphere model may include a fifth observation point 45 and a sixth observation point 46, which have a first spacing Δx ₁ in the initial state, and correspond to the sphere center 40 to form fifth observation vectors 450 and 46 respectively. Sixth observation vector 460. After the external magnetic field of the detection device changes, the fifth observation point 45 moves to the first position 45' and forms a new observation vector 450' with the sphere center 40, and the sixth observation point 46 moves to the second position 46 accordingly. ', and forms another new observation vector 460' with the sphere center 40, the first position 45' and the sixth position 46' have a second distance Δx ₂ .

Based on this, the difference between the first spacing and the second spacing can be calculated to obtain the spacing change value, and a quantitative relationship can be determined with the corresponding spacing change threshold to determine whether there is a weak magnetic source in the non-magnetic cavity. The above technical solution can be used as a separate technical solution for determining whether a weak magnetic source exists, or as a complement to the above technical solution for using the mode of a magnetic field observation vector to determine whether a weak magnetic source exists. That is, if the module of the magnetic field observation vector and the first geomagnetic radius do not satisfy the preset quantitative relationship, perform the above steps for further verification and judgment.

Further, in yet another embodiment, the weak magnetic detection method may further include the following steps.

The "tracking the change of the distance between at least two observation points on the reference sphere model with the magnetic field, and obtaining the distance change value" specifically includes: tracking the dispersion of at least two sets of observation points on the reference sphere model, and obtaining the first degree of dispersion. data and second dispersion data, and track the overall dispersion of the at least two groups of observation points to obtain global dispersion data, which are respectively used to characterize the change of the distance between observation points with the magnetic field;

The "if the distance change value satisfies a preset quantitative relationship with the preset distance change threshold, then it is determined that a weak magnetic source exists in the non-magnetic cavity" specifically includes: if the global dispersion data is consistent with the preset distance change threshold. If the distance change threshold, the first dispersion data and the second dispersion data satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity.

Preferably, the first dispersion data is defined as s (group ₁ ), the second dispersion data is defined as s (group ₂ ), the distance change threshold (or dispersion tolerance) is defined as s _th , and the global dispersion data is defined is s(group ₁ , group ₂ ,...), then the global dispersion data is at least configured to satisfy:
s(group ₁ ,group ₂ ,...)>max(s(group ₁ ),s(group ₁ ),...)+s _th .

That is, if the global dispersion data is greater than the sum of the maximum value of all dispersion data such as the first dispersion data and the second dispersion data and the dispersion tolerance, it is determined that the entire magnetic field is affected by The interference of the external magnetic field (weak magnetic source, etc.) is detected, and then it is determined that there is a weak magnetic source in the non-magnetic cavity. In this implementation, even if an error occurs and an outlier exists within the system, the above conditions will not be triggered to cause misjudgment by the system. The function of the dispersion tolerance is to adjust the sensitivity and anti-interference ability of calculation and judgment.

If the global discrete data is approximately equal to or slightly smaller than the sum of the maximum value and the dispersion tolerance, it is determined that the entire magnetic field is not interfered by the external magnetic field. In the presence of outliers, the above conditions are still achieved.

Similar to the foregoing technical solution, the above preferred technical solution provided by the present invention can be used as a supplementary verification step for any of the foregoing embodiments. It can also be used as an independent method to determine the weak magnetic source, replacing the previous technical solution of judging whether the weak magnetic source exists through the mode of the magnetic field observation vector, and preferably can be combined with any of the additional features or implementations described above.

Specifically, as shown in FIG. 23 , for a single set of observation points, the observation point set before the magnetic field change is defined is distributed in the first region 47 , and the first region 47 has a degree of dispersion. After the magnetic field changes, if the dispersion data of the observation point set increases, the original observation point set will form a first sub-set 471 and a second sub-set 472, reflecting that the observation point distribution area expands from the first area 47 For the second area 47'. In this way, it can be determined that there is a weak magnetic source in the non-magnetic cavity.

As shown in Figure 24, for the two sets of observation points, the third area 48A shows the global distribution of the first observation point set 481A and the second observation point set 482A under the action of the weak magnetic source. The third area 48A has global dispersion data representing the current global distribution, the first observation point set 481A has the first dispersion data, and the second observation point set 482A has the second dispersion data. At this time, the global dispersion data is greater than the sum of the maximum value and the dispersion tolerance in the first dispersion data and the second dispersion data.

The fourth area 48B shows the global distribution of the first observation point set 481B and the second observation point set 482B in another situation. The fourth area 48B has another global dispersion data characterizing the current global distribution. At this time, the distribution area of the second observation point set 482B is basically unchanged compared to 482A. Outliers appear in the first observation point set 481B and the distribution area is larger than 481A. Moreover, the global dispersion degree of the fourth area 48B is still roughly equal to The sum of the first dispersion degree and the dispersion degree tolerance of the larger first observation point set 481B. Based on this, even if outliers appear in the set, it can be determined based on the global dispersion data and global distribution that there is no weak magnetic source or other external magnetic field influence at this time, and the influence of outliers can be effectively eliminated.

Of course, the method provided by this embodiment may further include: filtering out outliers among the at least two observation points after the change, and calculating the dispersion data based on the filtered observation points.

In summary, the present invention uses the weak magnetism carried by the medical equipment to detect the medical equipment in the non-magnetic cavity. By fitting a reference sphere model that represents the strength of the geomagnetic field, it tracks a certain data in the reference sphere model under different states. The vector changes of the points are compared and judged based on a certain preset quantitative relationship. Since the detection process only needs to receive the geomagnetic field and the weak magnetic field emitted by the medical equipment, it does not send a signal to the non-magnetic cavity, so there will be no High-intensity radiation causes damage to the non-magnetic cavity. At the same time, the technical solution based on fitting the sphere model and making vector judgment can achieve the technical effects of fast detection speed, simple process and low probability of false triggering.

It should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity. Persons skilled in the art should take the specification as a whole and understand each individual solution. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention. They are not intended to limit the protection scope of the present invention. Any equivalent implementations or implementations that do not deviate from the technical spirit of the present invention are not intended to limit the protection scope of the present invention. All changes should be included in the protection scope of the present invention.

Claims

A weak magnetic detection method used to detect weak magnetic medical equipment in a non-magnetic cavity, which is characterized by including:

Obtain the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model; wherein the reference sphere model represents the geomagnetic field and has a first geomagnetic radius;

If the mode of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output.
The weak magnetic detection method according to claim 1, characterized in that "if the mode of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, then it is determined that the non-magnetic cavity is There is a weak magnetic source in the body, and the output signal” specifically includes:

If the module of the magnetic field observation vector is less than the first criterion value, or the module of the magnetic field observation vector is greater than the second criterion value, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output;

Wherein, the first criterion value is equal to the difference between the first geomagnetic radius and the first tolerance, the second criterion value is equal to the sum of the first geomagnetic radius and the first tolerance, and the first criterion value is equal to the sum of the first geomagnetic radius and the first tolerance. The tolerance characterizes the difference between the modes of different geomagnetic field vectors in the reference sphere model.
The weak magnetic field detection method according to claim 1, characterized in that the method further includes:

Receive the presence signal and obtain the number and/or average duration of the presence signal;

If the number and/or average duration of the presence signals is greater than the preset value, an alarm signal is output.
The weak magnetic field detection method according to claim 1, characterized in that the method further includes:

Receive the presence signal and obtain the modes of several magnetic field observation vectors within a preset time range;

Calculate the standard deviation of the modes of several magnetic field observation vectors to obtain the magnetic observation standard deviation;

When the magnetic observation standard deviation is less than or equal to the preset dynamic magnetic field threshold, an alarm signal is output.
The weak magnetic detection method according to claim 1, wherein the "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model" specifically includes:

Obtain the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model, as well as the acceleration and rotation angular velocity change signals during the magnetic field change process, and obtain the module of the magnetic field observation vector, acceleration data and gyro data;

The method also includes:

Receive the presence signal, calculate the standard deviation of the acceleration data and/or the average value of the gyro data, and obtain the speed standard deviation and/or gyro average value;

If the speed standard deviation is less than or equal to the preset dynamic speed threshold, and/or if the gyro mean is less than or equal to the preset dynamic rotation threshold, an alarm signal is output.
The weak magnetic detection method according to claim 1, characterized in that before "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model", the method further includes:

Acquire multi-directional geomagnetic field data, and obtain the reference sphere model by fitting in a three-dimensional coordinate system;

According to the geomagnetic field data, a multi-directional geomagnetic field vector is calculated;

Calculate the first tolerance in the preset quantitative relationship according to the mode of the geomagnetic field vector;

Wherein, the first tolerance represents the difference between modes of different geomagnetic field vectors in the reference sphere model, and the geomagnetic field vector is configured such that the center of the sphere of the reference sphere model points to the geomagnetic field data at A directed line segment of a position in the three-dimensional coordinate system; the first tolerance is configured as an integer multiple of the standard deviation of the mode of the geomagnetic field vector.
The weak magnetic detection method according to claim 1, characterized in that before "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model", the method further includes:

Obtain geomagnetic field data from multiple magnetic sensors in multiple directions, fit multiple sphere models in a three-dimensional coordinate system, and obtain multiple calibration sphere models;

Calculate the center of the sphere of the calibration sphere model and the vector from the center of the sphere of the reference sphere model to the calibration point, and obtain multiple calibration sphere centers and calibration vectors;

Using the calibration vector of one of the multiple calibration sphere models, calibrate the modules of the multiple calibration vectors to obtain multiple data vectors;

Calculate multiple data points according to the data vector and the corresponding calibration sphere center, and fit a reference sphere model in the three-dimensional coordinate system according to the data points;

Wherein, the magnetic field data is distributed on the calibration sphere model to form a plurality of calibration points; the calibration vector is a calibration vector of one of the calibration sphere models in a preset direction;

The "obtaining the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model" specifically includes:

Obtain the vector corresponding to the observation point in the first state and obtain the first observation vector;

Obtain the vector corresponding to the observation point in the second state, and calibrate it with the calibration vector to obtain the second observation vector;

The "if the module of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, then it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output" specifically includes:

If the mode of the second observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that the weak magnetic source exists in the non-magnetic cavity, and the existence signal is output.
The weak magnetic detection method according to claim 7, wherein the calibration sphere model is an ellipsoid, the preset direction is the long axis direction of the ellipsoid, and the "using multiple calibration spheres" Calibrate the calibration vector of one of the models, calibrate the modules of multiple calibration vectors, and obtain multiple data vectors" specifically includes:

A plurality of calibration parameters are calculated according to the calibration vector and the modes of the plurality of calibration vectors; wherein the calibration parameters are the quotient of the mode of the calibration vector and the mode of the calibration vector;

Calibrate the modes of multiple calibration vectors respectively according to multiple calibration parameters to obtain multiple data vectors;

The "obtaining the vector corresponding to the observation point in the second state, and calibrating it with the calibration vector to obtain the second observation vector" specifically includes:

Obtain the calibration parameter corresponding to the first observation vector and obtain the observation calibration parameter;

Obtain the vector corresponding to the observation point in the second state, calibrate it with the observation calibration parameter, and obtain a second observation vector.
The weak magnetic field detection method according to claim 1, characterized in that the method further includes:

If the module of the magnetic field observation vector and the first geomagnetic radius do not satisfy the preset quantitative relationship, then track the change of the distance between at least two observation points on the reference sphere model with the magnetic field to obtain the distance change value;

If the distance change value satisfies a preset quantitative relationship with the preset distance change threshold, it is determined that a weak magnetic source exists in the non-magnetic cavity.
The weak magnetic detection method according to claim 9, characterized in that "tracking the change of the distance between at least two observation points on the reference sphere model with the magnetic field and obtaining the distance change value" specifically includes:

Track the dispersion of at least two sets of observation points on the reference sphere model to obtain the first dispersion data and the second dispersion data, and track the overall dispersion of the at least two sets of observation points to obtain global dispersion data, They are used to characterize how the distance between observation points changes with the magnetic field;

The "if the distance change value satisfies a preset quantitative relationship with the preset distance change threshold, then it is determined that a weak magnetic source exists in the non-magnetic cavity" specifically includes:

If the global dispersion data, the preset spacing change threshold, the first dispersion data and the second dispersion data satisfy a preset quantitative relationship, it is determined that there is a gap in the non-magnetic cavity. Weak magnetic source.
An endoscope detector used to detect an endoscope in a non-magnetic cavity, the endoscope is configured to have weak magnetism, characterized in that the endoscope detector includes a detection panel and is connected to the The handle of the detection panel, the detection panel includes a display surface and a sensing surface arranged oppositely, the endoscope detector is configured to implement a weak magnetic detection method; the weak magnetic detection method includes:

Obtain the magnetic field observation vector formed by at least one observation point after the magnetic field changes on the reference sphere model; wherein the reference sphere model represents the geomagnetic field and has a first geomagnetic radius;

If the mode of the magnetic field observation vector and the first geomagnetic radius satisfy a preset quantitative relationship, it is determined that a weak magnetic source exists in the non-magnetic cavity, and an existence signal is output.
The endoscopic detector according to claim 11, wherein the display surface is provided with alarm lights and status lights configured in a ring shape, and the sensing surface is evenly distributed with at least four sensing units, and the The sensing unit includes at least two magnetic sensors, one of which is disposed close to the geometric center of the sensing surface, and the other of which is disposed away from the geometric center.